[liftbag]

As many of you know, RS2K have added AlwaysStabilizeWhenArmed in betaflight naming it Airmode. He already added this feature in OP 15.05.

AlwaysStabilizeWhenArmed is self-explanatory, the control loop is always active, even with throttle below zero and motors in idle.
You can enable the feature by setting "True" System > Settings > FlightModeSettings > AlwaysStabilizeWhenArmed.

This is useful to maintain the multicopter control on all occasions that require zero throttle, such as a quick altitude loss to center the gate, or when you stop a flip in the inverted position for a long time.

AlwaysStabilizeWhenArmed works perfectly, but needs a safety feature that will be available in the next release, and early in the next beta.
Everyone using a combination of stick to arm/disarm the motors cannot use AlwaysStabilizeWhenArmed, because arming/disarming is understood as a command, and may overturn multicopter on the ground.
Currently only those using a switch on an accessory channel to arm/disarm can safely use AlwaysStabilizeWhenArmed.

In the next release AlwaysStabilizeWhenArmed will be activated from the gui (Output tab).
In addition, those who use the stick combination to arm/disarm, can disable AlwaysStabilizeWhenArmed in Flight mode switch position (input tab) so to have a fligh mode safe for takeoff and landing.

[telnoi]

I may be misunderstanding how this feature works (doing a ground test), but should the motors respond to angle changes when throttle is zero when armed?

Currently, they do not with ''AlwaysStabilizeWhenArmed'' set to ''True.''
With ''motors spin at neutral output when armed and throttle below zero'' enabled, there are also no changes to RPM when changing the quad angle.

[f5soh]

I may be misunderstanding how this feature works (doing a ground test), but should the motors respond to angle changes when throttle is zero when armed?

Yes, and that pretty dangerous currently.

Output tab: Motors spin at neutral checked
UAVO Browser: ''AlwaysStabilizeWhenArmed'' set to ''True.''

Just after board is armed, motors spin and are reactive while the Throttle is 0.

[telnoi]

Both options have been set to true, but the motors are not reactive at 0 throttle. They remain idle (ESC calibration 1030).
They become reactive only after slightly increasing throttle/same behaviour as default.

What could be causing this?

[f5soh]

Motors currently spin just after armed ?

[telnoi]

yes, but they don't react to angle changes.
Edit: is this acro + only? I have been flying rate so far.

[f5soh]

Strange...

I have currently my quad setup like that and it works perfectly.
The "AlwaysStabilizeWhenArmed" is really saved using the button ?

[liftbag]

Same here, it works flawless.

[f5soh]

is this acro + only? I have been flying rate so far.

There is no limitation with stabilization modes.

Please post your config file: File > Export UAV settings...

[telnoi]

Here you go.
I updated the attachment, since I saved it whilst having motor spin at neutral disabled.

These are the settings I use to test AlwaysStabilizeWhenArmed.

[f5soh]

This feature is only enabled for Multirotor frame and your frame is currently Custom

You are using a custom mixer, why ? For accessory ?

Please check this page for how to setup and accessory without a custom mixer:
https://librepilot.atlassian.net/wiki/display/LPDOC/Adding+a+buzzer+to+Multirotor+frame

[telnoi]

Ah, so that is the reason.
I have a PWM lost model beeper hooked up to a motor output and I am essentially using channel 6 of my Tx to output the throttle signal as a PWM signal through the Revo Nano to tell ensure that the beeper receives an alternating input.

Is it possible to output PWM without a custom mixer?

[f5soh]

Is it possible to output PWM without a custom mixer?

Sure..
https://librepilot.atlassian.net/wiki/display/LPDOC/Adding+a+buzzer+to+Multirotor+frame

[telnoi]

All working, thanks 

[nabreu]

Hi!

Tried this, and it´s very good for Rate or Acro+ but quite dangerous with Attitude if you don´t land on a level terrain (fliped several times). I suspect i know the answer but, is there a way to disable AlwaysStabilizeWhenArmed when using Attitude ?